A stable pose estimation method for the biped robot using image information

被引：0

作者：

Park, Sangbum ^{[1
]}

Han, Youngjoon ^{[1
]}

机构：

[1] Electronics Engineering Department, Soongsil University, 511 Dongj ak-Gu, Seoul, Korea, Republic of

来源：

World Academy of Science, Engineering and Technology | 2009年 / 38卷

关键词：

Balance control - Biped Robot - Image information - Inverted pendulum - Inverted pendulum mode - Kinematical models - Reference objects - Zero moment point;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point (ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM (3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory. © 2009 WASET.ORG.

引用

页码：134 / 138